2.0 KiB
2.0 KiB
A brief and practical introduction to H-infinity Control
It is a practical introduction to H-infinity control for people who already know classical control (transfer functions, Bode plots, loop shaping). The emphasis is on how to use H-infinity synthesis to design controllers, rather than on the underlying theory.
Content
- Introduction to Model Based Control: methodology, from classical to robust control, and the example system (a mass-spring-damper with an actuator) used throughout the lecture.
- Classical Open Loop Shaping: manual loop shaping and H-infinity loop shaping synthesis.
- A first step into the H-infinity world: the H-infinity norm, H-infinity synthesis, and the generalized plant.
- Modern interpretation of control specifications: closed-loop transfer functions (gang of four), the sensitivity function, and the module margin.
- H-infinity shaping of closed-loop transfer functions: design of weighting functions and their limitations.
- Mixed-sensitivity H-infinity control: a complete step-by-step design example (shaping of S, then GS, then T).
Each chapter contains exercises, with hints and solutions.
Running the Matlab scripts
Requirements
- Matlab R2019b or newer
- Control System Toolbox
- Robust Control Toolbox
Scripts
There is one script per chapter, plus a helper function:
| Script | Chapter |
|---|---|
h_infinity_1_open_loop_shaping.m |
Classical Open Loop Shaping |
h_infinity_2_control_specifications.m |
Modern Interpretation of Control Specifications |
h_infinity_3_shaping_cl_tf.m |
H-infinity Shaping of closed-loop transfer functions |
h_infinity_4_mixed_sensitivity_example.m |
Mixed-Sensitivity H-infinity Control - Example |